version: 66.04
glider: 118
mission: 21
dive: 39
start: 8 1 109 6 14 51
data:
$ID,118
$MISSION,21
$DIVE,39
$D_SURF,4
$D_FLARE,3
$D_TGT,660
$D_ABORT,1090
$D_NO_BLEED,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,220
$T_MISSION,275
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,750
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51726
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.83
$TGT_DEFAULT_LON,-159.78
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-86605.578
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,428
$PITCH_MAX,3730
$C_PITCH,2946
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,10
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,311
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2560
$C_ROLL_CLIMB,2720
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,17
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,582
$VBD_MAX,3956
$C_VBD,2937
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-8.3219604
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,1
$SMARTDEVICE1,3
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043077655
$SEABIRD_T_H,0.00063814409
$SEABIRD_T_I,2.4031482e-05
$SEABIRD_T_J,2.4698193e-06
$SEABIRD_C_G,-9.9826059
$SEABIRD_C_H,1.1260695
$SEABIRD_C_I,-0.0021108589
$SEABIRD_C_J,0.00021799213
$GPS1,060307,2152.530,-15940.899,40,0.8,40,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-59.5
$GPS2,061401,2152.597,-15941.105,16,1.8,21,9.8
$SPEED_LIMITS,0.100,0.279
$TGT_NAME,T2
$TGT_LATLONG,2150.420,-15941.560
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.044,-0.275
$KALMAN_X,-58402.0,-470.6,-156.1,60485.2,-1020.2
$KALMAN_Y,27229.6,394.9,-85.9,-34011.1,1340.3
$MHEAD_RNG_PITCHd_Wd,161.2,4106,-16.8,-10.000
$D_GRID,660
$MM_IGNORESAMPLERETURN,0.0
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,24,-1.89,-170.3,0.0,0.0,0,104,0.00,0.00,-76.53,0.000,2,0.000,0.000,421,2508,3238
$GC,110,-1.89,-170.3,3.3,-8.2,11,133,10.95,2.30,-6.03,0.000,4,0.127,0.053,2528,1149,3635
$GC,195,-1.89,-170.3,29.2,-21.9,20,202,0.00,2.30,0.00,0.000,6,0.000,0.021,2528,2574,3636
$GC,396,-1.89,-170.3,67.7,-19.2,39,400,0.00,2.40,0.00,0.000,4,0.000,0.039,2528,1153,3636
$GC,468,-1.89,-170.3,78.7,-16.8,44,472,0.00,2.28,0.00,0.000,6,0.000,0.021,2528,2563,3636
$GC,796,-1.89,-170.3,132.7,-14.8,74,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2563,3638
$GC,1124,-1.89,-170.3,180.0,-13.9,105,1128,0.00,2.40,0.00,0.000,4,0.000,0.041,2528,1150,3638
$GC,1202,-1.89,-170.3,191.3,-14.0,111,1207,0.00,2.28,0.00,0.000,6,0.000,0.023,2528,2557,3638
$GC,1531,-1.89,-170.3,234.5,-13.7,141,1535,0.00,2.40,0.00,0.000,4,0.000,0.044,2528,1152,3638
$GC,1635,-1.89,-170.3,248.8,-13.2,149,1642,0.00,2.30,0.00,0.000,6,0.000,0.025,2528,2563,3638
$GC,1963,-1.89,-170.3,289.3,-12.3,180,1967,0.00,2.42,0.00,0.000,4,0.000,0.046,2529,1152,3637
$GC,2068,-1.89,-170.3,303.8,-14.5,188,2075,0.00,2.33,0.00,0.000,6,0.000,0.027,2528,2567,3637
$GC,2396,-1.89,-170.3,347.9,-13.3,219,2400,0.00,2.55,0.00,0.000,4,0.000,0.054,2528,3927,3635
$GC,2456,-1.89,-170.3,355.2,-13.1,223,2461,0.00,2.45,0.00,0.000,6,0.000,0.028,2528,2550,3634
$GC,2784,-1.89,-170.3,396.0,-11.5,253,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2550,3632
$GC,3113,-1.89,-170.3,434.1,-11.3,284,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2550,3628
$GC,3441,-1.89,-170.3,474.3,-11.5,315,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2550,3626
$GC,3770,-1.89,-170.3,512.2,-11.7,346,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2551,3624
$GC,4098,-1.89,-170.3,550.9,-11.3,377,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2550,3620
$GC,4427,-1.89,-170.3,587.6,-11.9,408,4431,0.00,2.65,0.00,0.000,4,0.000,0.065,2528,3919,3618
$GC,4554,-1.89,-170.3,602.7,-12.6,418,4558,0.00,2.47,0.00,0.000,6,0.000,0.035,2528,2572,3617
$GC,4882,-1.89,-170.3,642.3,-11.0,448,4887,0.00,2.53,0.00,0.000,4,0.000,0.065,2528,1151,3615
$GC,4942,-1.89,-170.3,648.3,-10.7,452,4946,0.00,2.38,0.00,0.000,6,0.000,0.041,2528,2548,3614
$STATE,5047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5047,begin apogee
$GC,5060,-0.50,0.0,660.2,10.1,462,5205,1.40,0.00,132.15,0.955,6,0.072,0.000,2829,2725,2937
$STATE,5206,end apogee,CONTROL_FINISHED_OK
$STATE,5206,begin climb
$GC,5211,1.89,170.3,665.1,0.0,476,5363,2.35,2.45,135.98,0.930,4,0.043,0.074,3368,3926,2241
$GC,5390,1.89,170.3,655.8,10.1,492,5394,0.00,2.30,0.00,0.000,6,0.000,0.037,3368,2714,2240
$GC,5718,1.89,170.3,617.4,11.8,522,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2714,2237
$GC,6047,1.92,190.4,582.9,9.2,553,6072,0.00,2.47,16.77,0.845,4,0.000,0.064,3368,3934,2160
$GC,6244,1.92,193.3,564.3,9.9,569,6256,0.00,2.30,3.85,0.541,6,0.000,0.034,3368,2706,2148
$GC,6577,1.95,217.8,533.5,9.0,600,6604,0.00,0.00,20.95,0.847,6,0.000,0.000,3368,2706,2048
$GC,6932,1.95,217.8,498.5,11.1,633,6936,0.00,2.45,0.00,0.000,4,0.000,0.062,3368,3936,2046
$GC,7072,1.95,217.8,481.5,11.9,644,7080,0.00,2.28,0.00,0.000,6,0.000,0.033,3368,2715,2045
$GC,7401,1.97,236.4,448.2,9.3,675,7419,0.00,0.00,15.73,0.790,6,0.000,0.000,3368,2715,1973
$GC,7739,1.97,236.4,414.6,10.8,707,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2715,1970
$GC,8068,1.97,236.4,376.8,11.2,738,8072,0.00,2.40,0.00,0.000,4,0.000,0.060,3368,3938,1969
$GC,8295,1.97,236.4,350.4,11.7,757,8300,0.00,2.28,0.00,0.000,6,0.000,0.031,3368,2705,1969
$GC,8624,1.97,236.4,316.8,11.0,787,8630,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2705,1968
$GC,8952,1.98,238.8,282.4,9.9,818,8959,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2705,1968
$GC,9281,2.00,255.4,250.6,9.3,849,9305,0.00,2.45,16.02,0.670,4,0.000,0.056,3368,3933,1895
$GC,9460,2.00,255.4,231.2,11.6,864,9464,0.00,2.25,0.00,0.000,6,0.000,0.028,3368,2705,1893
$GC,9793,2.00,255.4,198.4,11.4,895,9798,0.00,2.35,0.00,0.000,4,0.000,0.048,3368,1326,1893
$GC,9864,2.00,255.4,190.2,11.0,900,9871,0.00,2.33,0.00,0.000,6,0.000,0.029,3368,2731,1892
$GC,10192,2.00,255.4,154.2,10.8,931,10196,0.00,2.30,0.00,0.000,4,0.000,0.054,3368,3927,1892
$GC,10282,2.00,255.4,143.7,12.0,938,10286,0.00,2.20,0.00,0.000,6,0.000,0.025,3368,2712,1892
$GC,10610,2.03,284.2,108.8,8.9,968,10640,0.00,2.38,24.52,0.560,4,0.000,0.049,3368,3933,1778
$GC,10716,2.03,284.2,98.3,10.3,976,10724,0.00,2.20,0.00,0.000,6,0.000,0.025,3368,2717,1775
$GC,11045,2.06,302.0,65.8,9.3,1007,11070,0.10,2.38,15.48,0.497,4,0.051,0.041,3405,1345,1704
$GC,11111,2.06,302.0,58.2,12.5,1012,11115,0.00,2.25,0.00,0.000,6,0.000,0.026,3405,2722,1702
$GC,11445,2.10,339.7,25.8,8.5,1043,11482,0.00,2.45,31.60,0.476,4,0.000,0.041,3405,1336,1551
$GC,11554,2.10,341.5,15.8,9.9,1055,11561,0.00,2.28,0.00,0.000,6,0.000,0.025,3405,2728,1548
$GC,11641,2.10,342.0,6.3,10.0,1068,11647,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2728,1547
$STATE,11652,end climb,SURFACE_DEPTH_REACHED
$STATE,11652,begin surface coast
$FINISH,-0.2,1.022930
$STATE,11695,end surface coast,CONTROL_FINISHED_OK
$STATE,11695,begin surface
$SM_CCo,11729,52.83,0.444,0,0,1102,450.13
$SM_GC,0.37,0.00,0.00,52.83,0.000,0.000,0.444,417,2568,1102,-11.63,0.23,450.13
$IRIDIUM_FIX,2143.45,-15938.60,261098,030308
$TT8_MAMPS,0.065195
$HUMID,1801
$INTERNAL_PRESSURE,9.96478
$TCM_TEMP,23.60
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.8,22.245
$10V_AH,10.0,25.711
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,undefined,Mmodem_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,27.650,85.700,413.050,52.825,0.000,30.228,59.609,302.462,0.000,0.000,80.260,21.917,2106.836,5973.927,575.178,1870.002,1900.784,33.352,1584.820,0.000,1816.265,0.000,0.000,0.000
$DEVICE_MAMPS,126.555,73.632,954.915,444.093,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,748.575,0.000,0.000,0.000,0.000,0.000,152.035,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,34650,1077
$CAP_FILE_SIZE,381098,0
$CFSIZE,-70647808,-89456640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,010809,093236,2150.749,-15941.068,32,1.7,33,9.8